Introduction to Control Systems

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Objectives
› To possess a basic understanding of control system
engineering and be able to offer some illustrative examples
and their relationship to key contemporary issues
› To be able to recount a brief history of control systems and
their role in society
› To be capable of discussing the future of controls in the
context of their evolutionary pathways
› To be to recognize the elements of control system design
and possess an appreciation of controls in the context of
engineering design
Introduction to Control Systems
› CONTROL
– A word usually taken to mean regulate, direct, or command.

› SYSTEM
– It is an arrangement, set, or collection of things connected or
related in such a manner as to form an entirety or whole.
– It is an arrangement of physical components connected or
related in such a manner as to form and/or act as an entire unit.
– An interconnection of elements and devices for a desired
purpose.

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Introduction to Control Systems
› An arrangement of physical components
connected or related in such a manner as to
command, direct or regulate itself or another
system.
› An interconnection of components forming a
system configuration that will provide a desired
response.
› It consists of subsystems and processes (or
plants) assembled for the purpose of controlling
the output or process.
› In its simplest form, a control system provides an
output or response for a given input or stimulus.

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Introduction to Control Systems

Input; Stimulus Output; Response

PROCESS

Desired Response Actual Response

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Introduction to Control Systems
› INPUT
– It is the stimulus, excitation, or command applied
to a control system, typically from an external
source, usually in order to produce a specified
response from the control system.
› OUTPUT
– It is the actual response obtained from the control
system. It may or may not be equal to the specified
response implied by the input.
› PROCESS
– The device, plant, or system under control. The
input and output relationship represents the
cause-and-effect relationship of the process.

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Introduction to Control Systems
› CONTROLLED VARIABLE
– It is the quantity or condition that is measured and
controlled.
– It is normally the output of the system.
› MANIPULATED VARIABLE
– It is the quantity or condition that is varied by the
controller so as to affect the value of the controlled
variable.
› PLANTS
– It may be a piece of equipment, perhaps just a set of
machine functioning together, the purpose of which is
to perform a particular operation.
– It is a system to be controlled.
› DISTURBANCES
– A signal that tends to adversely affect the value of the
output of a system. 7
GENERAL CLASSIFICATION OF CONTROL SYSTEM

› Control systems are classified into two general

categories:

– Open-Loop Control Systems

– Closed-Loop Control Systems

› The distinction is determined by the control action,

that quantity responsible for activating the system
to produce the output. The word action doesn’t
always directly imply change, motion, or activity.

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› OPEN LOOP
– The control action is independent of the output.
– Open-Loop Control Systems utilize a controller or control
actuator to obtain the desired response.

› Functional Block Diagram

Command Input Output
Reference Selector Dynamic Unit

› Physical Arrangement

Input Output
Controller Motor Powering
Device
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› Two Outstanding Features of Open-Loop Control System
1. Their ability to perform accurately is determined by their calibration.
To calibrate means to establish or reestablish the input-output
relation to obtain a desired system accuracy.
2. They are not usually troubled with problems of instability.

› Example of Open-Loop Control System

Most automatic toasters are open-loop systems because they are
controlled by a timer. The time required to make “good toast” must be
estimated by the user, who is not part of the system. Control over the
quality of toast (the output) is removed once the time, which is both
the input and the control action, has been set. The time is typically set
by means of a calibrated dial or switch.

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› CLOSED LOOP
– The control action is somehow dependent on the output. It is
commonly called feedback control system.
– utilizes feedback to compare the actual output to the desired
output response.

› Functional Block Diagram

Command Input Output
Reference Selector Dynamic Element

› Physical Arrangement Feedback Element

Input Output
Error Detector Controller Powering Device

Output Measuring Device Output or Load

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 › FEEDBACK
– It is the property of a closed loop system which permits
the output (or some other controlled variable) to be
compared with the input to the system (or an input to
some other internally situated component or subsystem)
so that the appropriate control action may be performed
as some function of the output and input.
› Characteristics of Feedback
1. Increased accuracy.
2. Tendency toward oscillation or instability.
3. Reduced sensitivity of the ratio of output to input to variations in
system parameters and other characteristics.
4. Reduced effects of nonlinearities.
5. Reduced effects of external disturbances or noise.
6. Increased bandwidth. The bandwidth of the system is a frequency
response measure of how well the system responds to (or filters)
variations (or frequencies) in the input signal.
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› Multivariable Control System

› Example of Closed-Loop Control System

An autopilot mechanism and the airplane it controls is a closed-loop
(feedback) control system. Its purpose is to maintain a specified airplane
heading, despite atmospheric changes. It performs this task by continuously
measuring the actual airplane heading, and automatically adjusting the
airplane control surfaces (rudder, ailerons, etc.) as to bring the actual
airplane heading into correspondence with the specified heading. The
human pilot or operator who presets the autopilot is not part of the control
system.
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Brain Exercises
Determine whether the system is open loop or closed loop system and
identify the INPUT and OUTPUT of the system.

1. An electric switch is a manufactured control system, controlling the

flow of electricity. By definition, the apparatus or person flipping the
switch is not a part of this control system.
2. A thermostatically controlled heater or furnace automatically
regulating the temperature of a room or enclosure is a control system.
3. A part of the human temperature control system is the perspiration
system. When the temperature of the air exterior to the skin becomes
too high the sweat glands secrete heavily, inducing cooling of the skin
by evaporation. Secretions are reduced when the desired cooling
effect is achieved, or when the air temperature falls sufficiently.

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Examples of Control Systems
› A thermostatically controlled heater or furnace
automatically regulating the temperature of a room or
enclosure is a control system.
› The input to this system is a reference temperature, usually
specified by appropriately setting a thermostat.
› The output is the actual temperature of the room or
enclosure.
› When the thermostat detects that the output is less than
the input, the furnace provides heat until the temperature of
the enclosure becomes equal to the reference input. Then
the furnace is automatically turned off.
› When the temperature falls somewhat below the reference
temperature, the furnace is turned on again.

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Examples of Control Systems
› A part of the human temperature control system is the
perspiration system. When the temperature of the air
exterior to the skin becomes too high the sweat glands
secrete heavily, inducing cooling of the skin by
evaporation. Secretions are reduced when the desired
cooling effect is achieved, or when the air temperature falls
sufficiently.
› The input to this system may be “normal” or comfortable
skin temperature, a “setpoint,” or the air temperature, a
physical variable.
› The output is the actual skin temperature.

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Brain Exercises
› TEMPERATURE CONTROL SYSTEM

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Brain Exercises
4. Devise a control system to fill a container with water after it is
emptied through a stopcock at the bottom. The system must
automatically shut off the water when the container is filled.
5. Devise a simple control system which automatically turns on a
room lamp at dusk, and turns it off in daylight.

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 Pulleys
Cords

Stopper
Container

Water

Stopcock

Ball Float

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EXAMPLES OF CONTROL SYSTEMS
› OPERATION

The ball floats on the water. As the ball

gets closer to the top of the container, the
stopper decreases the flow of water. When
the container becomes full, the stopper
shuts off the flow of water.

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EXAMPLES OF CONTROL SYSTEMS
› Devise a simple control system which
automatically turns on a room lamp at dusk,
and turns it off in daylight.

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Room

Lamp

Window

Photocell facing outdoors

Receptacles

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EXAMPLES OF CONTROL SYSTEMS
› OPERATION

At dusk, the photocell, which functions as

a light-sensitive switch, closes the lamp
circuit, thereby lighting the room. The lamp
stays lighted until daylight, at which time the
photocell detects the bright outdoor light
and opens the lamp circuit.

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EXAMPLES OF CONTROL SYSTEMS
› ROBOT USING A PATTERN-RECOGNITION

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› CHALLENGER
Register and Login to your Edmodo account
HOMEWORK 1 is already posted in the group.

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FOUR PRIMARY REASONS FOR CONTROL SYSTEM

› Power amplifier
– For example, a radar antenna, positioned by the low-power
rotation of a knob at the input, requires a large amount of
power for its output rotation.
› Remote control
– For example, a remote-controlled robot arm can be used to
pick-up material in a radioactive environment.

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FOUR PRIMARY REASONS FOR CONTROL SYSTEM

› Convenience of input form

– For example, in a temperature control system, the input is a
position on a thermostat and the output is a heat. Thus, a
convenient position input yield a desired thermal output.

› Compensate for disturbances

– Typically, we control variables as temperature in thermal
systems, position and velocity in mechanical systems, and
voltage, current, or frequency in electrical system.

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FOUR PRIMARY REASONS FOR CONTROL SYSTEM

› The system must be able to yield the correct output

even with a disturbance. For example, consider an
antenna system that points in a commanded direction. If
a wind forces the antenna from its commanded position,
or if noise enters internally, the system must be able to
detect the disturbance and correct the antenna’s
position.
› Obviously, the system’s input will not change to make
the correction. Consequently, the system itself must:
1. measure the amount that the disturbance has
repositioned the antenna, and
2. return the antenna to the position commanded by the
input.

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GENERAL CLASSIFICATION OF CONTROL SYSTEM

› Problems

› How are the following open-loop systems calibrated:

– A. automatic washing machine?

– B. automatic toaster?
– C. ohmmeter?

› Explain how a closed-loop automatic washing machine

might operate.

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ANALOG AND DIGITAL CONTROL SYSTEMS

› The signals in a control system, for example, the input and

the output waveforms, are typically functions of some
independent variable, usually time, denoted t.
› Analog Signal
– A signal dependent on a continuum of values of the
independent variable t.
– It is also known as a continuous-time signal or, more
generally, a continuous-data signal.
› Digital Signal
– A signal defined at, or of interest at, only discrete (distinct)
instants of the independent variable t (upon which it
depends).
– It is also called a discrete-time, a discrete-data, or a
sampled-data signal.

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ANALOG AND DIGITAL CONTROL SYSTEMS

› The continuous, sinusoidally varying voltage v(t) or alternating

current i(t) available from an ordinary household electrical
receptacle is a continuous-time (analog) signal, because it is
defined at each and every instant of time t electrical power is
available from that outlet.

› If a lamp is connected to the receptacle and it is switched “on”

and then immediately “off” every minute, the light from the lamp
is a discrete-time signal, “on” only for an instant every minute.

› The signals inside digital computers and microprocessors are

inherently discrete-time, or discrete-data, or digital (or digitally
coded) signals. At their most basic level, they are typically in the
form of sequences of voltages, currents, light intensities, or
other physical variables, at either of two constant levels.

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ANALOG AND DIGITAL CONTROL SYSTEMS

› Control systems can be classified according to the types of

signals they process: continuous-time (analog), discrete-time
(digital), or a combination of both (hybrid).

› Continuous-Time Control Systems

– Also called continuous-data control systems, or analog
control systems, contain or process only continuous-time
(analog) signals and components.

› Discrete-Time Control Systems

– Also called discrete-data control systems, or sampled-data
control systems, have discrete-time signals or
components at one or more points in the system.

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THE CONTROL SYSTEMS ENGINEERING PROBLEM

› Control systems engineering consists of analysis

and design of control systems configurations.

› Analysis
– It is the investigation of the properties of an
existing system.

› Design
– It is the choice and arrangement of system
components to perform a specific task.

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THE CONTROL SYSTEMS ENGINEERING PROBLEM

› Design by Analysis
– It is accomplished by modifying the
characteristics of an existing or standard
system configuration.

› Design by Synthesis
– It is by defining the form of the system
directly from its specifications.

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